Spring Data REST with Spring MVC: Adding RepositoryRestMvcConfiguration to existing DispatcherServlet

I have an existing Spring MVC Application with a DispatcherServlet and an XML based configuration.

Now I would like to integrate Spring Data REST but I dont know how to do this in a clean way. I added

<context:component-scan>...</context:component-scan>

so my RestControllers are found but I fail in adding a RepositoryRestMvcConfiguration config. I tried the annotation driven approach which doesnt work

@Configuration
public class RestConfiguration extends RepositoryRestMvcConfiguration {
...
}

and the

<bean class="com.mypackage.rest.RestConfiguration" />

approach is not working either.

I also tried the follwing in the web.xml

<servlet>
    <servlet-name>myservlet</servlet-name>
    <servlet-class>org.springframework.web.servlet.DispatcherServlet</servlet-class>
    <init-param>
        <param-name>contextClass</param-name>
        <param-value>org.springframework.web.context.support.AnnotationConfigWebApplicationContext</param-value>
    </init-param>
    <init-param>
      <param-name>contextConfigLocation</param-name>
      <param-value>com.mypackage.rest.RestConfiguration</param-value>
    </init-param>
    <load-on-startup>1</load-on-startup>
</servlet>

Strange thing is, a method annotated with @PostConstruct is called, but non of the configure* methods.

In the docs for Spring Data REST is a chapter where it is explained how to add a Spring Data REST to a Spring MVC application in code. It also says

The equivalent of the above in a standard web.xml will also work identically to this configuration if you are still in a servlet 2.5 environment.

How do you do this?